CN109071114A - A method, equipment and device with storage function for automatic loading and unloading - Google Patents

Abstract

A method, equipment and device with storage function for loading and unloading goods automatically, the method includes: the robot takes at least one goods to be placed from a first position (S11); placing the goods to be placed at the second position (S12); the cargo storage mechanism (202) is relatively fixed on a mechanical arm (201) of the robot (20) and drives the mechanical arm (201) to move in the cargo hold (30); the transfer mechanism (40) extends into the cargo compartment (30) depending on the position of the robot (20). By means of the mode, labor cost for loading and unloading goods can be reduced, and efficiency for loading and unloading goods is improved.

Description

A kind of method of automatic loading and unloading goods, equipment and the device with store function

Technical field

The present invention relates to robotic technology field, deposited more particularly to a kind of method of automatic loading and unloading goods, equipment and having Store up the device of function.

Background technique

In traditional shipping or logistic industry, usually using artificial handling goods, cargo is transported to by worker from warehouse In cargo hold, and cargo is put neatly, or the cargo in cargo hold is transported in warehouse.But with the development of the society, with Work cost is also constantly being promoted, and the great work intensity of worker, and working efficiency can be reduced with worker's physical demands, is caused The problem of loading and unloading goods high labor cost, low efficiency.

Summary of the invention

The invention mainly solves the technical problem of providing a kind of method of automatic loading and unloading goods, equipment and there is store function Device, the problem of being able to solve traditional artificial handling goods high labor cost, low efficiency.

In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of side of automatic loading and unloading goods is provided Method, comprising: robot obtains at least one cargo to be placed from first position；Cargo to be placed is placed into the second position；Its In, when robot freights in cargo hold, first position is docked in the warehousing mechanism of robot, or with warehousing mechanism Transport mechanism in, for placing the initial position of cargo to be placed, the second position is the mesh that cargo to be placed is placed in cargo hold Cursor position；When robot unloads in cargo hold, first position is the initial position that cargo to be placed is placed in cargo hold, second Set is in the warehousing mechanism of robot, or in the transport mechanism docked with warehousing mechanism, for placing cargo to be placed Target position；Warehousing mechanism is relatively fixed to the mechanical arm of robot, and mechanical arm is driven to move in cargo hold；Transport mechanism root It is extended in cargo hold according to the position of robot.

In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of with store function Device, be stored with program, which is performed to realize method as described above.

In order to solve the above technical problems, another technical solution that the present invention uses is: providing a kind of automatic loading and unloading goods and set It is standby, comprising: robot and transport mechanism, robot include mechanical arm and warehousing mechanism, and warehousing mechanism is relatively fixed to robotic arm； Robotic arm is used to obtain at least one cargo to be placed from first position, and cargo to be placed is placed into the second position；Warehousing Mechanism drives mechanical arm to move in cargo hold for placing cargo to be placed；Transport mechanism is passed for transmitting cargo to be placed Mechanism is sent to be extended in cargo hold according to the position of robot；Wherein, when robot freights in cargo hold, first position is in machine In the warehousing mechanism of device people, or in the transport mechanism docked with warehousing mechanism, for placing the initial bit of cargo to be placed It sets, the second position is the target position that cargo to be placed is placed in cargo hold；When robot unloads in cargo hold, first position is Place the initial position of cargo to be placed in cargo hold, the second position be in the warehousing mechanism of robot, or with warehousing machine In the transport mechanism of structure docking, for placing the target position of cargo to be placed.

The beneficial effects of the present invention are: be in contrast to the prior art, robot is from first in the embodiment of the present invention Position obtains at least one cargo to be placed, and cargo to be placed is placed into the second position；Wherein, when robot is in cargo hold When loading, first position is in the warehousing mechanism of robot, or in the transport mechanism docked with warehousing mechanism, for putting The initial position of cargo to be placed is set, the second position is the target position that cargo to be placed is placed in cargo hold；When robot is in goods When unloading in cabin, first position is the initial position that cargo to be placed is placed in cargo hold, and the second position is the warehousing in robot In mechanism, or in the transport mechanism docked with warehousing mechanism, for placing the target position of cargo to be placed；Warehousing mechanism It is relatively fixed to the mechanical arm of robot, mechanical arm is driven to move in cargo hold；Transport mechanism extends according to the position of robot Into cargo hold.By the above-mentioned means, substituting artificial automatic loading and unloading goods using robot in the embodiment of the present invention, and utilize extension Transport mechanism conveying articles, reduce handling goods during artificial participation composition, thus reduce handling goods cost of labor, and And the problem of physical demands is not present in robot, can work long hours, and then the efficiency of handling goods can be improved.

Detailed description of the invention

Fig. 1 is the flow diagram of the method first embodiment of automatic loading and unloading goods of the present invention；

Fig. 2 is that robot freights schematic diagram of a scenario in cargo hold；

Fig. 3 is that robot unloads schematic diagram of a scenario in cargo hold；

Fig. 4 is the flow diagram of the method second embodiment of automatic loading and unloading goods of the present invention；

Fig. 5 is the flow diagram of the method 3rd embodiment of automatic loading and unloading goods of the present invention；

Fig. 6 is the flow diagram of the method fourth embodiment of automatic loading and unloading goods of the present invention；

Fig. 7 is the flow diagram of the 5th embodiment of method of automatic loading and unloading goods of the present invention；

Fig. 8 is the structure schematic top plan view of warehousing mechanism and transport mechanism link position；

Fig. 9 is the flow diagram of the method sixth embodiment of automatic loading and unloading goods of the present invention；

Figure 10 is the flow diagram of the 7th embodiment of method of automatic loading and unloading goods of the present invention；

Figure 11 is the flow diagram of the 8th embodiment of method of automatic loading and unloading goods of the present invention；

Figure 12 is the flow diagram of the 9th embodiment of method of automatic loading and unloading goods of the present invention；

Figure 13 is the flow diagram of the tenth embodiment of method of automatic loading and unloading goods of the present invention；

Figure 14 is the flow diagram of the 11st embodiment of method of automatic loading and unloading goods of the present invention；

Figure 15 is the structure schematic top plan view of the attaching means of warehousing mechanism and the setting of transport mechanism docking location；

Figure 16 is the flow diagram of the 12nd embodiment of method of automatic loading and unloading goods of the present invention；

Figure 17 is the flow diagram of the 13rd embodiment of method of automatic loading and unloading goods of the present invention；

Figure 18 is the structural schematic diagram of automatic loading and unloading goods equipment first embodiment of the present invention；

Figure 19 is the structural schematic diagram of automatic loading and unloading goods equipment second embodiment of the present invention；

Figure 20 is the structural schematic diagram of automatic loading and unloading goods equipment 3rd embodiment of the present invention；

Figure 21 is the structural schematic diagram of automatic loading and unloading goods equipment fourth embodiment of the present invention；

Figure 22 is the structural schematic diagram of the 5th embodiment of automatic loading and unloading goods equipment of the present invention；

Figure 23 is the structural schematic diagram of automatic loading and unloading goods equipment sixth embodiment of the present invention；

Figure 24 is the structural schematic diagram of the 7th embodiment of automatic loading and unloading goods equipment of the present invention；

Figure 25 is the structural schematic diagram of the 8th embodiment of automatic loading and unloading goods equipment of the present invention；

Figure 26 is the structural schematic diagram of the 9th embodiment of automatic loading and unloading goods equipment of the present invention；

Figure 27 is the structural schematic diagram for one embodiment of device that the present invention has store function.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Referring to Fig. 1, the method first embodiment of automatic loading and unloading goods of the present invention includes:

S11: robot obtains at least one cargo to be placed from first position；

S13: cargo to be placed is placed into the second position；

Wherein, when robot freights in cargo hold, first position be in the warehousing mechanism of robot, or with storage In the transport mechanism of cargo aircraft structure docking, for placing the initial position of the cargo to be placed, the second position is to place to be somebody's turn to do in cargo hold The target position of cargo to be placed.When robot unloads in cargo hold, first position is that the cargo to be placed is placed in cargo hold Initial position, the second position or in the transport mechanism docked with warehousing mechanism, is used in the warehousing mechanism of robot In the target position for placing the cargo to be placed.

Warehousing mechanism is relatively fixed to the mechanical arm of robot, and mechanical arm is driven to move in cargo hold.Transport mechanism according to The position of robot extends in cargo hold.

Wherein, which can be the transport mechanism that the transport mechanism in warehouse extends out, be also possible to one end with Mechanism is sent alone with what the warehousing mechanism was docked in transport mechanism docking in the warehouse, the other end.

Specifically, cargo hold can be cabin, trailer or the container of land transportation lorry, which can be loaded in vehicle , on ship or aircraft, to realize land transportation, sea-freight or air transportion.In an application examples, as shown in Fig. 2, lorry is moved to warehouse In front of the door or in warehouse, when preparing handling goods, robot 20 detects that lorry reaches dress discharge location, and independent navigation is moved to In cargo hold 30.Wherein, robot 20 includes mechanical arm 201 and warehousing mechanism 202, and warehousing mechanism 202 is relatively fixed to be connected to machine Tool arm 201, the warehousing mechanism 202 is mobile and the mechanical arm being attached to 201 is driven to be moved in cargo hold 30, while conveyer Structure 40 is connected to the warehousing mechanism 202, and the machine 20 is passively followed to extend in cargo hold 30.

During robot 20 moves into cargo hold 30, robot 20 utilizes sensing device 203, such as visual sensor, obtains The spatial data around robot 20 is taken, to obtain the spatial data in cargo hold 30, carries out independent navigation, avoiding obstacles move Move the operating position A to target area 301.Wherein, which can be set in mechanical arm 201, also can be set in In cargo hold 30, robot 20 can be communicated with the sensing device 203 to directly acquire the sky around robot 20 or in cargo hold 30 Between data, the spatial data that report of sensing device 203 can also be obtained by control system (not shown), not do specific limit herein It is fixed.

Fig. 2 is further regarded to, when the operating position A that robot 20 reaches target area 301 prepares loading, robot 20 At least one cargo B to be placed is obtained from first position 204 using mechanical arm 201, and cargo B to be placed is placed into second Set 302.Wherein, robot 20 obtains cargo B to be placed, on the one hand, due to conveyer in loading from warehousing mechanism 202 The transmission speed of structure 40 is usually above the speed of 20 arrangement of goods of robot, which can store partial cargo, separately On the one hand, it in order to which robot 20 carries out space planning, while not needing to reduce transmission speed, improves the efficiency of loading.When to When arrangement of goods B shape regular (such as being rectangular), the size (such as length, width and height) of the available cargo hold 30 of robot 20, rule Draw the placement location of current cargo B to be placed, the i.e. second position 302, such as by cargo B to be placed it is several rows of or it is rows of put, To reach higher space utilization rate.Certainly, in other embodiments, robot can also be obtained directly from transport mechanism 40 Cargo B to be placed can also be according in current cargo tank 30 when robot 20 chooses cargo B to be placed and its second position 302 The spatial data of non-arrangement of goods calculates current needs and obtains the cargo B to be placed held, and placing in the cargo hold 30 should be wait put The second position 302 of cargo B is set, it can also be according to the form (such as irregular, compressible form) or cargo of cargo B to be placed Type (such as fragile article) and other items information chooses the second position 302, by can the cargo of load-bearing be placed on bottom, improve pendulum Put quality and efficiency.

As shown in figure 3, robot 20 utilizes when the operating position A that robot 20 reaches target area 301 prepares unloading Mechanical arm 201 selects a first position 303 from row's cargo closest to 30 top of cargo hold, and it is to be placed to obtain at least one Cargo B, and cargo B to be placed is placed into the second position 401 of transport mechanism 40, with using transport mechanism 40 that this is to be placed Cargo B is transmitted in warehouse.Certainly, in other application example, which can also be first placed on storage by robot 20 In cargo aircraft structure 202, then make goods movement to transport mechanism 40 from warehousing mechanism 202, is not specifically limited herein.

In other embodiments, robot 20 can first be moved to operating position, and the transport mechanism 40 is according to the robot 20 location information actively extends in cargo hold 30, docks with the warehousing mechanism 202 of the robot 20, to transmit goods to be placed Object.Wherein, transport mechanism 40 can be communicated directly with robot 20, to obtain the location information of the robot 20, or from control System (not shown) processed obtains the location information that robot 20 reports, and is not specifically limited herein.

In the present embodiment, robot obtains at least one cargo to be placed from first position, and cargo to be placed is placed To the second position.Wherein, when robot freights in cargo hold, first position is the Huo Zhe in the warehousing mechanism of robot In the transport mechanism docked with warehousing mechanism, for placing the initial position of cargo to be placed, the second position is placed in cargo hold The target position of cargo to be placed.When robot unloads in cargo hold, first position is that cargo to be placed is placed in cargo hold Initial position, the second position or in the transport mechanism docked with warehousing mechanism, are used in the warehousing mechanism of robot Place the target position of cargo to be placed.Warehousing mechanism is relatively fixed to the mechanical arm of robot, drives mechanical arm in cargo hold Movement.Transport mechanism extends in cargo hold according to the position of robot.To substitute artificial automatic loading and unloading goods using robot, and Using the transport mechanism conveying articles of extension, the artificial participation composition during handling goods is reduced, and then reduces the people of handling goods Work cost, and robot be not present physical demands the problem of, can work long hours, so can be improved handling goods effect Rate.

As shown in figure 4, the method second embodiment of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of first embodiment, before step S11, further comprise:

S101: the direction of Robot vertical cargo tanks door is moved to the target area of cargo hold, so that transport mechanism follows Robot moves into cargo hold.

Wherein, before robot is moved to target area, transport mechanism is relatively fixed to warehousing mechanism, follows robot quilt It is dynamic to extend in cargo hold.

Specifically, as shown in connection with fig. 2, in an application examples, when robot 20 detects that lorry reaches dress discharge location, 20 independent navigation of robot is moved to the target area in cargo hold 30 such as the x-axis direction in Fig. 2 along the direction of vertical cargo tanks door 301, the i.e. working region of robot 20, during this, transport mechanism 40 is fixedly connected on warehousing mechanism 202, follows robot 40 passively extend in cargo hold 30, to transmit cargo B to be placed.Wherein, transport mechanism 40 can pass through the side of hinge or buckle Formula is connect with warehousing mechanism 202.Certainly, in other application example, transport mechanism 40 can also be using other modes and warehousing machine Structure 202 connects, and is not specifically limited herein.

In other embodiments, robot can also first be moved to target area, position of the transport mechanism further according to robot Confidence breath actively extends in cargo hold.

Specifically as shown in figure 5, the method 3rd embodiment of automatic loading and unloading goods of the present invention is in automatic loading and unloading goods of the present invention On the basis of method first embodiment, before step S11, further comprise:

S102: the direction of Robot vertical cargo tanks door is moved to the target area of cargo hold；

S103: robot to transport mechanism/control system distribution of machine people location information and/or the target area, with So that the determining docking location with warehousing mechanism of transport mechanism；

Wherein, after transport mechanism calculates docking location using the location information of robot and/or the target area, Huo Zhechuan After the docking location for sending authorities control system to send, docking location is actively extended to, mechanism is docked with warehousing.

Specifically, as shown in connection with fig. 2, in an application examples, robot 20 is first along the direction of vertical cargo tanks door, such as Fig. 2 In x-axis direction, be moved to target area 301, then robot 20 sends itself location information to transport mechanism 40, such as Position coordinates after transport mechanism 40 receives the location information, calculate the docking location with warehousing mechanism 202, and actively prolong The docking location is reached, realizes and docks with warehousing mechanism.Wherein, the location information of robot 20 is the view by mechanical arm 201 Feel that sensor 203 obtains, which is set to mechanical arm 201 or is connected to the end effector of mechanical arm 201 (not shown)；Transport mechanism 40 can be connect by way of hinge or buckle with warehousing mechanism 202, and transport mechanism 40 can root According to the size of the location information and warehousing mechanism 202, the docking location is calculated, can also be sent out according to control system (not shown) The spatial data and the location information sent calculates the docking location, or uses other calculation methods, does not do specific limit herein It is fixed.

Certainly, in other application example, transport mechanism 40 can also be connect using other modes with warehousing mechanism 202, machine Device people 20 can also send the target area, such as the mark and/or location information of target area, conveyer to transport mechanism 40 Structure 40 can calculate docking location, such as the sky according to the target area and cargo hold 30 according to the target area received Between data (such as image data), calculate the docking location using image procossing, robot 20 can also be to control system (figure Not showing) location information and/or the target area that send itself be sent to conveyer after calculating the docking location by control system Structure 40, is not specifically limited herein.

In other embodiments, transport mechanism can actively extend to the target area side according to the target area information After edge, marginal position where notice robot is moved to transport mechanism is docked with the transport mechanism, is not specifically limited herein.

As shown in fig. 6, the method fourth embodiment of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of first embodiment, when robot freights in cargo hold, step S13 further comprises:

S131: the second position to match in cargo hold with cargo to be placed is obtained；

Specifically, as shown in connection with fig. 2, in an application examples, robot 20 utilizes the visual sensor on mechanical arm 201 203 obtain the spatial data in cargo hold 30, for example, by using the image data of the visual sensor 203 shooting, carry out image procossing The spatial data for obtaining non-arrangement of goods afterwards is matched with the size and/or shape of cargo B to be placed, and choose with should be to The space of the immediate non-arrangement of goods of the size of arrangement of goods B is as the second position 302.Certainly, in other application example, machine Device people 20 also can receive the second position of control system (not shown) transmission, or the dress of the perception by being set in cargo hold 30 It sets and obtains the second position, wherein when matching the second position, it is also contemplated that form/cargo type of the cargo B to be placed Deng other characteristics, it is not specifically limited herein.

S132: motion profile of the planning from first position to the second position；

Wherein, which includes the motion path (i.e. the rotational angle in each joint of the mechanical arm) and fortune of mechanical arm Dynamic time (i.e. velocity of rotation).

S133: mechanical arm is moved according to the motion profile, and cargo to be placed is placed into the second position.

Wherein, mechanical arm includes end effector, which can be mechanical gripper or vacuum chuck etc., this Place is not specifically limited.

Specifically, robot 20 according to obtain the first position 204 for holding the cargo B to be placed and place the cargo B to be placed Target position 302, i.e. the second position plans the motion profile from first position 204 to the second position 302, i.e. planning is mechanical Then the rotational angle and velocity of rotation in each joint of arm control mechanical arm 201 and are moved according to the motion profile, is i.e. mechanical arm 201 The rotational angle that each joint is planned according to the rotation of the velocity of rotation of planning, so that cargo B to be placed is placed into the second position 302。

It is understood that can only include motion path in other embodiments, and the restriction of velocity of rotation be not added.

The present embodiment can also be combined with the method second or third embodiments of automatic loading and unloading goods of the present invention.

In other embodiments, since the motion range of joint of mechanical arm is limited, robot can also control warehousing first Mechanism rotation, to substitute the movement of mechanical arm, so as to reduce the amount of exercise of mechanical arm.

Specifically as shown in fig. 7, the 5th embodiment of method of automatic loading and unloading goods of the present invention is in automatic loading and unloading goods of the present invention On the basis of method fourth embodiment, step S133 further comprises:

S1331: predetermined angular is rotated using warehousing mechanism, so that the second position is in the motion range of mechanical arm；

Wherein, the predetermined angular be according to the second position obtain rotational angle, specific value according to actual needs and It is fixed, it is not specifically limited herein.

Specifically, as shown in connection with fig. 2, it in an application examples, since the rotational angle range of mechanical arm 201 is limited, leads Cause the motion range of mechanical arm 201 limited, if the second position 302 exceeds the motion range of mechanical arm 201, robot 20 is obtained It can also include surrounding according to the posture information of the second position 302, including position and/or posture behind the second position 302 Obstacle information calculates the rotational angle of warehousing mechanism 202 (such as -10 degree), then it represents that turn left 10 degree, then robot 20 control warehousing mechanisms 202 turn left after 10 degree, and the second position 302 is i.e. in the motion range of mechanical arm 201, with after an action of the bowels Continuous arrangement of goods.Certainly, in other embodiments, robot can also obtain the rotation of warehousing mechanism directly from control system Predetermined angular calculates the predetermined angular by control system, is not specifically limited herein.

S1332: mechanical arm is executed according to motion profile, and cargo to be placed is placed into the second position；

Wherein, warehousing mechanism utilizes company after transport mechanism rotation predetermined angular between warehousing mechanism and transport mechanism The width of the relatively fixed connection of fitting, warehousing mechanism and transport mechanism link position is greater than the width of transport mechanism.

Specifically, as shown in connection with fig. 8, in the warehousing mechanism 202 relative in 40 rotation process of transport mechanism, warehousing machine The width L1 of structure 202 and 40 link position of transport mechanism is consistently greater than the width L2 of transport mechanism 40, so as to prevent from transmitting The cargo transmitted in mechanism 40 is fallen when being transported to warehousing mechanism 202.Wherein, sharp between warehousing mechanism 202 and transport mechanism 40 With the relatively fixed connection of connector 50, which can be hinge or buckle etc.；When warehousing mechanism 202 needs to rotate, The connector 50 can be unlocked from warehousing mechanism 202 or transport mechanism 40, in warehousing mechanism 202 with respect to 40 turns of transport mechanism After dynamic predetermined angular, then relock warehousing mechanism 202 or transport mechanism 40.In other embodiments, which can also To be other elements structure, it is not specifically limited herein.

As shown in connection with fig. 2, after warehousing mechanism 202 rotates predetermined angular relative to transport mechanism 40, mechanical arm 201 is according to fortune Dynamic rail mark executes, i.e., cargo to be placed is placed B to the with the angle for the speed rotation planning planned by each joint of mechanical arm 201 Two positions 302.

In the present embodiment, robot controls warehousing mechanism rotation predetermined angular first, to substitute the mechanical movement of mechanical arm, So that mechanical arm does not need excessive movement angle, it is possible to reduce the calculation amount of robot and the amount of exercise of mechanical arm improve Sport efficiency.

As shown in figure 9, the method sixth embodiment of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of fourth embodiment, step S131 further comprises:

S1311: using the sensor in cargo hold, the spatial information of non-arrangement of goods in target area is obtained；

Wherein, the sensor in cargo hold can be visual sensor, be also possible to the distance measuring sensors such as ultrasonic sensor, this Place is not specifically limited.The spatial information can be using including voxel (Voxel), 3-D image, grid (Mesh) curved surface and seat At least one in mark information is described.

Specifically, as shown in connection with fig. 2, in an application examples, the visual sensor 304 in cargo hold obtains target area 301 image data goes out the spatial information of non-arrangement of goods in target area 301, such as coordinate letter from the image data analyzing Breath, the coordinate then converted the coordinate information under world coordinate system, wherein the world coordinate system can be warehousing mechanism 202 coordinates used are also possible to the seat that other devices such as coordinate or the cargo hold 30 of the use of control system (not shown) use Mark, is not specifically limited herein.The world coordinate system can make each device, each subsystem etc., such as mobile underpan The coordinate system of use, the coordinate system that end effector uses, may map to the same coordinate system, to avoid due to coordinate system Difference causes robot motion to malfunction.

Certainly, in other application example, it can also be obtained using modes such as 3-D image or grid surfaces and not place goods The spatial information of the spatial information or robot of object also available arrangement of goods, the spatial information in combining target region, Obtain the spatial information of non-arrangement of goods.

S1312: in the space of the non-arrangement of goods in target area, select the space to match with cargo to be placed as the Two positions.

In above application examples, robot 20 by visual sensor 203 obtain cargo B to be placed spatial data and/or Goods information, spatial data include the data and posture information by describing modes such as voxel, grids, and goods information includes ruler At least one in very little, form, cargo type, thus according to the spatial data and/or goods information, selection and cargo B to be placed The space to match, for example, with the immediate space of cargo B size to be placed, as the second position 302.Wherein it is possible to logical It crosses spatial data and obtains goods information, but vision can also be passed through by visual sensor with computing capability or control system The data of sensor acquisition are calculated, and directly obtain spatial data and goods information by visual sensor or control system. Certainly, in other embodiments, robot can also according to goods information, such as can deformation cargo, select non-arrangement of goods empty Between gap etc. between middle edge, top or cargo can place the space of compression cargo and do not do and have herein as the second position Body limits.

As shown in Figure 10, the 7th embodiment of method of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of first embodiment, when robot freights in cargo hold, step S11 further comprises:

S111: robot using sensing device obtain in warehousing mechanism/transport mechanism the spatial data of cargo to be placed and/ Or goods information；

Wherein, sensing device includes visual sensor, at least one of rfid device and character recognition device.It should The mechanical arm in robot can be set in sensing device, or is set in cargo hold, or is set to transport mechanism and/or storage Cargo aircraft structure；The spatial data of cargo includes the description information of cargo, and posture information can also include the information of peripheral obstacle, Goods information include size, shape, weight, type and destination address, delivery address at least one, do not do specific limit herein It is fixed.

S112: determine that obtaining for cargo to be placed holds pose according to spatial data and/or goods information；

Wherein, obtaining and holding pose includes position and the attitude data that mechanical arm obtains the cargo to be placed.

S113: mechanical arm is obtained with this holds pose acquirement cargo to be placed.

Specifically, in an application examples, as shown in connection with fig. 2, robot 20 is executed using 201 end of mechanical arm is set to Visual sensor 203 on device obtains the spatial data and/or goods information of the cargo B to be placed in warehousing mechanism 202, example The spatial description information of such as B, the information of peripheral obstacle, posture information spatial data, size, shape and other items information.It should According to the spatial data and/or goods information, the end effector that suitable mechanical arm 201 is calculated obtains visual sensor 203 The region held is calculated obtaining for end effector further according to the region and holds pose, then the end effector of mechanical arm 201 is with this It obtains and holds pose and obtain the cargo B to be placed.For example, visual sensor 203 obtains the goods space data in warehousing mechanism 203 (including obtaining region), then calculates the pose for obtaining and holding the cargo B to be placed, the pose is according to visual sensor 203 Coordinate system, then after the pose is converted to the pose under world coordinate system by robot 20, the end effector of mechanical arm 201 according to Pose under the world coordinate system obtains after obtaining under the coordinate system of itself end effector hold pose, the end of mechanical arm 201 Actuator is obtained with this to be held pose and obtains the cargo B to be placed.

In other embodiments, robot is also conceivable in cargo hold the spatial data of arrangement of goods, determines to be placed Cargo and obtain and hold pose, for example, when it is front-seat only remain a small space can be with arrangement of goods, then robot, which can choose, meets small sky Between small size cargo, or can changing object be suitable for the cargo in small space or dimensional characteristic and can meet small spatial character Cargo, such as cargo sidewards, it is endways, sideling when can put in, the end effector of robot can select corresponding goods at this time What object can be put into, which obtain, holds pose.

The present embodiment can also be with the method second of automatic loading and unloading goods of the present invention to any of sixth embodiment embodiment Or its combination not conflicted combines.

As shown in figure 11, the 8th embodiment of method of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of 7th embodiment, which includes visual sensor, and step S111 further comprises:

S1111: robot obtains the sky for the cargo to be placed stacked in warehousing mechanism/transport mechanism using visual sensor Between data；

Wherein, visual sensor is one of RGBD sensor, three-dimensional camera and binocular camera, the visual sensor The mechanical arm in robot can be set, or be set in cargo hold, or be set to transport mechanism/warehousing mechanism, herein It is not specifically limited.

S1112: utilizing dividing processing, and obtaining each of can be partitioned into cargo to be placed in the cargo to be placed of stacking Subspace data；

Wherein, dividing processing (Segmentation), which can be partitioned into stacks of cargo surface, can recognize the subspace number of cargo According to, and the cargo in stockpile is blocked by surface cargo, can be after surface cargo be removed, the space number that senses again It is split after.

S1113: utilizing subspace data, obtains the spatial data and/or goods information of each cargo to be placed；

Specifically, in an application examples, robot obtains warehousing mechanism using the visual sensor being set in cargo hold The spatial data of the cargo to be placed of middle stacking, including 3-D image can be from the to be placed of stacking using image Segmentation Technology The subspace data of the identifiable each cargo in surface are partitioned into cargo, i.e., then three-dimensional subgraph utilizes the three-dimensional subgraph The depth information of picture, the spatial data of available identifiable each cargo to be placed, can also obtain goods information, including Size, shape, position etc., in order to subsequently selected and obtain and hold cargo to be placed.

Certainly, in other embodiments, robot can also obtain the goods placed in transport mechanism by visual sensor The spatial data of object, the spatial data also may include posture information, i.e. position and posture, the modes structure such as voxel or grid surface The Description of Goods information built, is not specifically limited herein.

As shown in figure 12, the 9th embodiment of method of automatic loading and unloading goods of the present invention is the method in automatic loading and unloading goods of the present invention On the basis of 7th embodiment, step S111 further comprises:

S1114: the label of cargo to be placed in sensing device identification warehousing mechanism/transport mechanism is utilized；

Wherein, which can be at least one of bar code, two dimensional code or text information, which can be At least one of rfid device, two-dimension code recognition device or character recognition device.

S1115: the spatial data and/or goods information of the corresponding cargo to be placed of label are obtained；

Wherein, spatial data may include posture information, i.e. position and posture, can also include peripheral obstacle information. The goods information includes at least one of size, weight, volume, form and series of lot of cargo to be placed.

Specifically, in an application examples, sensing device is provided in transport mechanism, each cargo to be placed passes through the biography Mechanism is sent, is transmitted to during warehousing mechanism, which identifies the label of cargo to be placed, is obtained and is corresponded to by the label Spatial data and/or goods information, or by the label information upload control system, corresponding space is obtained by control system The spatial data and/or goods information are sent to robot by data and/or goods information, so as to robot it is subsequently selected and It obtains and holds cargo to be placed.

In other embodiments, sensing device may be disposed at the mechanical arm or end effector of robot, for identification wait put The label for setting cargo obtains corresponding spatial data and/or goods information by the label, or by transmission control on the label information System processed obtains corresponding spatial data and/or goods information by control system, and the spatial data and/or goods information are sent out Robot is given, so that robot is subsequently selected and obtains and holds cargo to be placed.In other embodiments, control system can be direct Robot is selected to obtain the cargo and machine to be placed held in conjunction with the current pose of robot according to spatial data and/or goods information Pose is held in obtaining for device people, is sent to robot.As shown in figure 13, the tenth embodiment of method of automatic loading and unloading goods of the present invention is at this On the basis of the method first embodiment of invention automatic loading and unloading goods, when robot unloads in cargo hold, step S11 is further wrapped It includes:

S114: robot selects at least one cargo to be placed from a row cargo nearest with cargo hold distance from top；

S115: determine that obtaining obtaining at least one cargo to be placed holds pose；

S116: mechanical arm is obtained with this to be held pose and obtains at least one cargo to be placed.

Specifically, as shown in connection with fig. 3, in an application examples, robot 20 is filled using the perception for being set to mechanical arm 201 203 are set, the spatial data of row's cargo nearest at the top of distance in cargo hold 30 is obtained, randomly chooses at least one from row's cargo A cargo B to be placed, then can obtain the spatial data of the cargo B to be placed, then robot 20 can be to be placed according to this The spatial data of cargo B, the spatial data being converted under world coordinate system, and the spatial data under the world coordinate system is utilized, The end effector (not shown) for calculating mechanical arm 201 obtains the obtaining for cargo B to be placed and holds pose.It can also be with incorporating cargo Information obtains while meeting cargo B goods information to be placed and correspond to obtaining for characteristic and holds pose.

It include the recognizable letter of association self space data and/or goods information in other embodiments, on cargo B to be placed Breath, such as the characteristics such as label, texture, pattern, color.The space number for the cargo to be placed that can be then obtained according to sensing device 203 According to such as image information, above-mentioned recognizable information being identified, so that obtaining this can recognize the corresponding spatial data of information and/or goods Object information.

Certainly, in other embodiments, robot also can use the sensing device being set in cargo hold and obtain cargo sky Between after spatial data uploads control system by data or sensing device, calculated by control system and obtain the cargo to be placed It obtains and holds pose, be not specifically limited herein.

As shown in figure 14, the 11st embodiment of method of automatic loading and unloading goods of the present invention is in the side of automatic loading and unloading goods of the present invention On the basis of method first embodiment, when robot unloads in cargo hold, step S13 further comprises:

S134: the second position to match in warehousing mechanism/transport mechanism with cargo to be placed is obtained；

It specifically, as shown in connection with fig. 3,, can basis after robot 20 selects cargo B to be placed in an application examples The spatial data of non-arrangement of goods in the spatial data and warehousing mechanism/transport mechanism of cargo B to be placed, selection with should be to The immediate space of arrangement of goods B size and/or shape, as the second position 205 (or 401).It is understood that this Two positions may include position and/or posture.Wherein, robot 20 obtains the space of the second position using sensing device 203 Data, or can also be obtained by control system (not shown), it is not specifically limited herein.Certainly, in other application example, Robot can also directly select the non-arrangement of goods in transport mechanism end, and space is not less than the space of cargo size to be placed, As the second position.

S135: motion profile of the planning from first position to the second position；

Wherein, which includes motion path (i.e. the rotational angle in each joint of the mechanical arm) and the movement of mechanical arm Time (i.e. velocity of rotation).First position, the second position include position (position) and/or posture (orientation).

S136: mechanical arm is moved according to the motion profile, and cargo to be placed is placed into the second position.

Specifically, continuing with Fig. 3, in above application examples, robot 20 holds the first of the cargo B to be placed according to obtaining Position 303 and the target position 205 for placing the cargo B to be placed, the i.e. second position, are planned from first position 303 to second 205 motion profile is set, that is, plans the rotational angle and velocity of rotation in each joint of mechanical arm, then controls 201 basis of mechanical arm Motion profile movement, the i.e. each joint of mechanical arm 201 are according to the rotational angle of the velocity of rotation of planning rotation planning, thus will be to Arrangement of goods B is placed into the second position 205.

Wherein, the height H2 of the warehousing mechanism 202 and 40 docking location of transport mechanism is lower than second in warehousing mechanism 202 205 height H1 is set, so that cargo B to be placed slides into transport mechanism 40 from warehousing mechanism 202, to utilize transport mechanism 40 Cargo B to be placed can be transmitted in warehouse.In the example, the second position is one end opposite with docking location.At other In embodiment, as shown in connection with fig. 2, transport mechanism 40 is connect with 202 docking location of warehousing mechanism using sub- transport mechanism 403, from And when making unloading, the cargo in warehousing mechanism 202 can be moved in transport mechanism 40 by sub- transport mechanism 403, be transmitted Enter in warehouse.

In another application examples, as shown in figure 15, transport mechanism 40 is provided with attaching means 60 in docking location, the constraint Part 60 includes first baffle 601 and second baffle 602, which is connected to transport mechanism 40, other end direction Warehousing mechanism 202,602 one end of second baffle are connected to transport mechanism 40, and the other end is towards warehousing mechanism 202, first baffle 601 Funnel-shaped when with 602 linked transport mechanism 40 of second baffle, funnel openings are towards warehousing mechanism 202, so that warehousing mechanism Cargo to be placed in 202 slides into transport mechanism 40 along attaching means 60, to drop out warehousing mechanism when cargo being avoided to slide.

In other embodiments, since the motion range of joint of mechanical arm is limited, robot can also control warehousing first Mechanism rotation, to substitute the movement of mechanical arm, while the attaching means can follow warehousing mechanism to turn when warehousing mechanism rotates Dynamic, cargo is fallen when preventing warehousing mechanism from rotating.

As shown in figure 16, the 12nd embodiment of method of automatic loading and unloading goods of the present invention is in the side of automatic loading and unloading goods of the present invention On the basis of the tenth embodiment of method, step S116 further comprises:

S1161: predetermined angular is rotated using warehousing mechanism, so that first position is in the motion range of mechanical arm；

Wherein, the predetermined angular be according to the first position obtain rotational angle, specific value according to actual needs and It is fixed, it is not specifically limited herein.

S1162: mechanical arm is obtained with this to be held pose and obtains at least one cargo to be placed；

Wherein, warehousing mechanism utilizes company after transport mechanism rotation predetermined angular between warehousing mechanism and transport mechanism The width of the relatively fixed connection of fitting, warehousing mechanism and transport mechanism link position is greater than the width of transport mechanism.

The execution of step can specifically refer in the 5th embodiment of method of automatic loading and unloading goods of the present invention in the present embodiment Step is not repeated herein.

In the present embodiment, robot controls warehousing mechanism rotation predetermined angular first, to substitute the movement of mechanical arm, thus So that each joint of mechanical arm does not need excessive motion range, it is possible to reduce the calculation amount of robot and the amount of exercise of mechanical arm mention High sport efficiency.

As shown in figure 17, the 13rd embodiment of method of automatic loading and unloading goods of the present invention is in the side of automatic loading and unloading goods of the present invention On the basis of second/3rd embodiment of method, before step S101 or S102, further comprise:

S100: robot is lifted to object height using lifting platform；

Wherein, which is the difference in height on cargo hatch and ground.

Specifically, in conjunction with shown in Fig. 2 or Fig. 3, when lorry rests in front of warehouse gate, there is height relative to ground in cargo hold 30 Difference, robot 20 can not directly enter in cargo hold 30 from ground moving, at this point, robot 20 is moved to the ground of cargo hold 30 in front of the door When, control system (not shown) controls 60 climbing target height of lifting platform, so that robot 20 is raised to cargo hold 30 in front of the door, with It is moved into cargo hold 30 convenient for robot 20 and carries out handling goods.

In other embodiments, lifting platform only can be raised to object height, another end in contact close to cargo door one end Ground, robot is then moved along the slope that the lifting platform is formed, into cargo hold.

As shown in figure 18, automatic loading and unloading goods equipment first embodiment of the present invention includes:

Robot 20 and transport mechanism 40, robot 20 include mechanical arm 201 and warehousing mechanism 202,202 phase of warehousing mechanism To being fixed on robotic arm 201；

Robotic arm 201 is used to obtain at least one cargo to be placed from first position, and cargo to be placed is placed into the Two positions；

Warehousing mechanism 202 drives mechanical arm 201 to move in cargo hold for placing cargo to be placed；

For transport mechanism 40 for transmitting cargo to be placed, transport mechanism 40 extends to cargo hold according to the position of robot 20 It is interior.

Wherein, as shown in connection with fig. 2, when robot 20 freights in cargo hold, first position 204 is the storage in robot 20 In cargo aircraft structure 202, or in the transport mechanism 40 docked with warehousing mechanism 202, the initial position of cargo B to be placed is placed, The second position 302 is the target position that cargo B to be placed is placed in cargo hold 30.

As shown in connection with fig. 3, when robot 20 unloads in cargo hold 30, first position 303 is to place in cargo hold 30 wait put Set the initial position of cargo B, the second position 205 be in the warehousing mechanism 202 of robot 20, alternatively, the second position 401 be In the transport mechanism 40 docked with warehousing mechanism 202, the target position of cargo B to be placed is placed.

In the present embodiment, robot load and unload goods process specifically can with reference to automatic loading and unloading goods of the present invention method first to Method provided by 13rd any embodiment or its combination not conflicted, is not repeated herein.

In the present embodiment, robot obtains at least one cargo to be placed from first position, and cargo to be placed is placed To the second position.Wherein, when robot freights in cargo hold, first position is the Huo Zhe in the warehousing mechanism of robot In the transport mechanism docked with warehousing mechanism, for placing the initial position of cargo to be placed.The second position is placed in cargo hold The target position of cargo to be placed.When robot unloads in cargo hold, first position is that cargo to be placed is placed in cargo hold Initial position, the second position or in the transport mechanism docked with warehousing mechanism, are used in the warehousing mechanism of robot Place the target position of cargo to be placed.Warehousing mechanism is relatively fixed to the mechanical arm of robot, drives mechanical arm in cargo hold Movement.Transport mechanism extends in cargo hold according to the position of robot, so that artificial automatic loading and unloading goods is substituted using robot, and Using the transport mechanism conveying articles of extension, the artificial participation composition during handling goods is reduced, and then reduces the people of handling goods Work cost, and robot be not present physical demands the problem of, can work long hours, so can be improved handling goods effect Rate.

In conjunction with shown in Fig. 2 or Fig. 3 and Figure 19, automatic loading and unloading goods equipment second embodiment of the present invention is in automatic dress of the invention On the basis of delivering device first embodiment, warehousing mechanism 202 includes movable pedestal 2021, in robot 20 from first Before position 204/303 obtains at least one cargo B to be placed, robot 20 is moved to cargo hold along the direction of vertical cargo tanks door 30 target area 301, so that transport mechanism 40 follows robot 20 to move into cargo hold 30.

Wherein, before robot 20 is moved to target area 301, transport mechanism 40 is relatively fixed to warehousing mechanism 202, with Random device people 20 passively extends in cargo hold 30.The movable pedestal 2021 can be the chassis with universal wheel, which can To be the shapes such as rectangular or round, it is not specifically limited herein.

In the present embodiment, warehousing mechanism band mobile robot moves into cargo hold and transport mechanism follows warehousing mechanism to move into goods The process in cabin can specifically refer to the method second embodiment of automatic loading and unloading goods of the present invention, be not repeated herein.

In conjunction with shown in Fig. 2 or Fig. 3 and Figure 20, automatic loading and unloading goods equipment 3rd embodiment of the present invention is in automatic dress of the invention On the basis of delivering device first embodiment, warehousing mechanism 202 includes movable pedestal 2021, in robot 20 from first Before position 204/303 obtains at least one cargo B to be placed, robot 20 is moved to cargo hold along the direction of vertical cargo tanks door 30 target area 301.Wherein, when the target area 301 of robot includes loading, positioned at the region at robot rear, and Region when unloading, in front of robot.

Robot 20 further comprises the first telecommunication circuit 206, for the position of 40 distribution of machine people 20 of transport mechanism Information and/or target area, so that the determining docking location with warehousing mechanism 202 of transport mechanism 40.

Transport mechanism 40 further comprises the second telecommunication circuit 402, for receiving the location information and/or mesh of robot 20 It is docked so that transport mechanism 40 actively extends to docking location after calculating docking location with warehousing mechanism 202 in mark region.

In the present embodiment, warehousing mechanism band mobile robot moves into cargo hold, and robot sends information and transport mechanism and storage The process of cargo aircraft structure docking can specifically refer to the method 3rd embodiment of automatic loading and unloading goods of the present invention, be not repeated herein.

In conjunction with shown in Fig. 2 or Fig. 3 and Figure 21, automatic loading and unloading goods equipment fourth embodiment of the present invention is in automatic dress of the invention On the basis of delivering device first embodiment, further comprise: control system 80.

Warehousing mechanism 202 includes movable pedestal 2021, for obtaining at least in robot 20 from first position 204/303 Before one cargo B to be placed, robot 20 is moved to the target area 301 of cargo hold 30 along the direction of vertical cargo tanks door.

Robot 20 further comprises the first telecommunication circuit 206, for the position of 80 distribution of machine people 20 of control system Information and/or target area, so that the determining docking location with warehousing mechanism 202 of transport mechanism 40.

Control system 80 is used to calculate docking location using the location information of robot 20 and/or target area, and to biography It send mechanism 40 to send docking location, actively extends to docking location to control transport mechanism 40, docked with warehousing mechanism 202.Its In his embodiment, control mechanism 40 can also directly transmit control instruction according to docking location, to control the extension of transport mechanism 40 To docking location.

In the present embodiment, warehousing mechanism band mobile robot moves into cargo hold, and robot sends information and control system control The process that transport mechanism is docked with warehousing mechanism can specifically refer to the method 3rd embodiment of automatic loading and unloading goods of the present invention, herein It is not repeated.

Figure 22 is the 5th embodiment of automatic loading and unloading goods equipment of the present invention, as shown in figure 21 and figure, automatic loading and unloading of the present invention The structure of the 5th embodiment of goods equipment is similar with the structure of automatic loading and unloading goods equipment fourth embodiment of the present invention, no longer superfluous herein It states, the difference is that, transport mechanism 40 further comprises connector 50, for extending to docking location in transport mechanism 40 When, warehousing mechanism 202 is connected, is docked with realizing with warehousing mechanism 202.

In the present embodiment, the effect of connector can specifically refer to the 5th embodiment of method of automatic loading and unloading goods of the present invention, It is not repeated herein.

Figure 23 is automatic loading and unloading goods equipment sixth embodiment of the present invention, as shown in Figure 21 and Figure 23, automatic loading and unloading of the present invention The structure of goods equipment sixth embodiment is similar with the structure of automatic loading and unloading goods equipment fourth embodiment of the present invention, no longer superfluous herein It states, the difference is that, further comprise: the sensor 90 being set in cargo hold does not place goods for obtaining in target area The spatial information of object, so that robot 20 in the space of the non-arrangement of goods in target area, selects and cargo phase to be placed The space matched is as the second position.

In the present embodiment, the effect of sensor specifically can refer to the method the 6th of automatic loading and unloading goods of the present invention in fact in cargo hold Example is applied, is not repeated herein.

Figure 24 is the 7th embodiment of automatic loading and unloading goods equipment of the present invention, as shown in Figure 21 and Figure 24, automatic loading and unloading of the present invention The structure of the 7th embodiment of goods equipment is similar with the structure of automatic loading and unloading goods equipment fourth embodiment of the present invention, no longer superfluous herein It states, the difference is that, robot 20 further comprises sensing device 203, and robot 20 obtains warehousing using sensing device 203 The spatial data and/or goods information of cargo to be placed in 202/ transport mechanism 40 of mechanism, believe according to spatial data and/or cargo Breath determines that obtaining for cargo to be placed holds pose, and controls mechanical arm 201 and obtained with this and hold pose and obtain cargo to be placed.

In an application examples, which includes visual sensor, which is set to machinery Arm 201 or the end effector 2011 for being connected to mechanical arm 201.In other embodiments, the first telecommunication circuit also can be set In sensing device 203.

Wherein, the visual sensor is one of RGBD sensor, three-dimensional camera and binocular camera.

The effect of the sensing device can specifically refer to method first, the third, the four, the 7th of automatic loading and unloading goods of the present invention To the 11st embodiment, it is not repeated herein.

In another application examples, which includes that rfid device, two-dimension code recognition device or text are known At least one of other device, for identification in 202/ transport mechanism 40 of warehousing mechanism cargo to be placed label so that machine People 20 obtains the goods information of the corresponding cargo to be placed of label.Wherein, the specific effect of the sensing device can refer to this hair The 9th embodiment of method of bright automatic loading and unloading goods, is not repeated herein.

In conjunction with shown in Figure 15 and Figure 25, Figure 25 is the 8th embodiment of automatic loading and unloading goods equipment of the present invention, such as Figure 21 and Figure 25 It is shown, the structure of the 8th embodiment of automatic loading and unloading goods equipment of the present invention and the knot of automatic loading and unloading goods equipment fourth embodiment of the present invention Structure is similar, and details are not described herein again, the difference is that, transport mechanism 40 further comprises: being set to the attaching means of docking location 60。

The attaching means 60 includes first baffle 601 and second baffle 602, which is connected to conveyer Structure 40, for the other end towards warehousing mechanism 202,602 one end of second baffle is connected to transport mechanism 40, and the other end is towards warehousing mechanism 202, when 602 linked transport mechanism 40 of first baffle 601 and second baffle, is funnel-shaped, funnel openings towards warehousing mechanism 202, So that the cargo to be placed in warehousing mechanism 202 slides into transport mechanism 40 along attaching means 60, to fall when cargo being avoided to slide Warehousing mechanism out.

Figure 26 is the 9th embodiment of automatic loading and unloading goods equipment of the present invention, as shown in Figure 21 and Figure 26, automatic loading and unloading of the present invention The structure of the 9th embodiment of goods equipment is similar with the structure of automatic loading and unloading goods equipment fourth embodiment of the present invention, no longer superfluous herein It states, the difference is that, it further comprise lifting platform 70, for being moved to cargo hold along the direction of vertical cargo tanks door in robot 20 Target area before, robot 20 is lifted to object height.Wherein, object height is the difference in height on cargo hatch and ground.

In the present embodiment, the method the 13rd that the specific operation of lifting platform can refer to automatic loading and unloading goods of the present invention is real Example is applied, is not repeated herein.

As shown in figure 27, the present invention has in one embodiment of device of store function, in the equipment 10 with store function Portion is stored with program 101, which, which is performed, realizes that the method first to the 13rd such as automatic loading and unloading goods of the present invention is implemented Method provided by any of example and the combination not conflicted arbitrarily.

Wherein, the equipment 10 with store function can be portable storage media such as USB flash disk, CD, be also possible to machine People, control system or the individual components that can be integrated in robot, such as control chip etc..

Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other Technical field is included within the scope of the present invention.

Claims (31)

1. a kind of method of automatic loading and unloading goods characterized by comprising

Robot obtains at least one cargo to be placed from first position；

The cargo to be placed is placed into the second position；

Wherein, when the robot freights in cargo hold, the first position be in the warehousing mechanism of the robot, or Person is in the transport mechanism docked with the warehousing mechanism, for placing the initial position of the cargo to be placed, described second Position is the target position that the cargo to be placed is placed in the cargo hold；When the robot unloads in the cargo hold, The first position is the initial position that the cargo to be placed is placed in the cargo hold, and the second position is in the machine In the warehousing mechanism of people, or in the transport mechanism docked with the warehousing mechanism, for placing the cargo to be placed Target position；

The warehousing mechanism is relatively fixed to the mechanical arm of the robot, and the mechanical arm is driven to move in the cargo hold； The transport mechanism extends in the cargo hold according to the position of the robot.

2. waiting putting the method according to claim 1, wherein the robot obtains at least one from first position Before setting cargo, comprising:

The direction of the Robot vertical cargo tanks door is moved to the target area of the cargo hold so that the transport mechanism with The cargo hold is moved into the robot；

Wherein, before the robot is moved to the target area, the transport mechanism is relatively fixed to the warehousing mechanism, The robot is followed passively to extend in the cargo hold.

3. waiting putting the method according to claim 1, wherein the robot obtains at least one from first position Before setting cargo, comprising:

The direction of the Robot vertical cargo tanks door is moved to the target area of the cargo hold；

The robot sends the location information and/or the target area of the robot to the transport mechanism/control system Domain, so that the determining docking location with the warehousing mechanism of the transport mechanism；

Wherein, the transport mechanism calculates the docking position using the location information of the robot and/or the target area Postpone or the transport mechanism receive control system send the docking location after, actively extend to the docking location, It is docked with the warehousing mechanism.

4. according to the method described in claim 3, it is characterized in that, the location information of the robot is by the mechanical arm Visual sensor obtain, the visual sensor be set to the mechanical arm or be connected to the mechanical arm end execute Device.

5. described by institute the method according to claim 1, wherein when the robot freights in cargo hold It states cargo to be placed and is placed into the second position and include:

Obtain the second position to match in cargo hold with the cargo to be placed；

Plan the motion profile from the first position to the second position；

The mechanical arm is moved according to the motion profile, and the cargo to be placed is placed into the second position.

6. according to the method described in claim 5, it is characterized in that, the robot is moved according to the motion profile, by institute It states cargo to be placed and is placed into the second position and include:

Predetermined angular is rotated using the warehousing mechanism, so that the second position is in the motion range of the mechanical arm；

The mechanical arm is executed according to the motion profile, and the cargo to be placed is placed into the second position；

Wherein, the warehousing mechanism is after the transport mechanism rotation predetermined angular, the warehousing mechanism and the biography It send using the relatively fixed connection of connector between mechanism, the warehousing mechanism and the width of the transport mechanism link position are greater than The width of the transport mechanism.

7. according to the method described in claim 5, it is characterized in that, it is described acquisition in cargo hold with the cargo phase to be placed The second position matched includes:

Using the sensor in the cargo hold, the spatial information of non-arrangement of goods in the target area is obtained；

In the space of the non-arrangement of goods in the target area, select the space to match with the cargo to be placed as described in The second position.

8. the method according to claim 1, wherein when the robot freights in cargo hold, the machine People obtains at least one cargo to be placed from first position

The robot obtains the spatial data of cargo to be placed in the warehousing mechanism/transport mechanism using sensing device And/or goods information；

Determine that the obtaining for cargo to be placed holds pose according to the spatial data and/or the goods information；

The mechanical arm holds the pose acquirement cargo to be placed with described obtain.

9. described the method according to claim 1, wherein when the robot unloads in the cargo hold Robot obtains at least one cargo to be placed from first position

The robot selects at least one cargo to be placed from a row cargo nearest with the cargo hold distance from top；

Determine that obtaining the obtaining at least one cargo to be placed holds pose；

The mechanical arm holds at least one described cargo to be placed of pose acquirement with described obtain.

10. described by institute the method according to claim 1, wherein when the robot unloads in cargo hold It states cargo to be placed and is placed into the second position and include:

Obtain the second position to match in the warehousing mechanism/transport mechanism with the cargo to be placed；

Plan the motion profile from the first position to the second position；

The mechanical arm is moved according to the motion profile, and the cargo to be placed is placed into the second position.

11. according to the method described in claim 10, it is characterized in that, the warehousing mechanism and the transport mechanism docking location Height lower than the second position in the warehousing mechanism height so that the cargo to be placed slides into from the warehousing mechanism The transport mechanism.

12. according to the method for claim 11, which is characterized in that the transport mechanism is provided with about in the docking location Bundle, the attaching means include first baffle and second baffle, and described first baffle one end is connected to the transport mechanism, another Towards the warehousing mechanism, described second baffle one end is connected to the transport mechanism at end, the other end towards the warehousing mechanism, The first baffle connects funnel-shaped when the transport mechanism with the second baffle, and funnel openings are towards the warehousing machine Structure, so that the cargo to be placed in the warehousing mechanism slides into the transport mechanism along the attaching means.

13. according to the method described in claim 9, it is characterized in that, the mechanical arm is held described in pose acquirement extremely with described obtain A cargo to be placed includes: less

Predetermined angular is rotated using the warehousing mechanism, so that the first position is in the motion range of the mechanical arm；

The mechanical arm holds at least one described cargo to be placed of pose acquirement with described obtain；

Wherein, the warehousing mechanism is after the transport mechanism rotation predetermined angular, the warehousing mechanism and the biography It send using the relatively fixed connection of connector between mechanism, the warehousing mechanism and the width of the transport mechanism link position are greater than The width of the transport mechanism.

14. according to the method in claim 2 or 3, which is characterized in that the direction of the Robot vertical cargo tanks door is mobile To before the target area of the cargo hold, comprising:

The robot is lifted to object height using lifting platform；

Wherein, the object height is the difference in height on the cargo hatch and ground.

15. a kind of device with store function, is stored with program, which is characterized in that described program is performed to realize as weighed Benefit requires the described in any item methods of 1-14.

16. a kind of automatic loading and unloading goods equipment characterized by comprising

Robot and transport mechanism, the robot include mechanical arm and warehousing mechanism, and the warehousing mechanism is relatively fixed to institute State robotic arm；

The robotic arm is used to obtain at least one cargo to be placed from first position, and the cargo to be placed is placed into the Two positions；

The warehousing mechanism drives the mechanical arm to move in cargo hold for placing the cargo to be placed；

For transmitting the cargo to be placed, the transport mechanism extends to the transport mechanism according to the position of the robot In the cargo hold；

Wherein, when the robot freights in cargo hold, the first position be in the warehousing mechanism of the robot, or Person is in the transport mechanism docked with the warehousing mechanism, for placing the initial position of the cargo to be placed, described second Position is the target position that the cargo to be placed is placed in the cargo hold；When the robot unloads in the cargo hold, The first position is the initial position that the cargo to be placed is placed in the cargo hold, and the second position is in the machine In the warehousing mechanism of people, or in the transport mechanism docked with the warehousing mechanism, for placing the cargo to be placed Target position.

17. equipment according to claim 16, which is characterized in that the warehousing mechanism includes movable pedestal, is used for Before the robot obtains at least one cargo to be placed from first position, by the direction of the Robot vertical cargo tanks door It is moved to the target area of the cargo hold, so that the transport mechanism follows the robot to move into the cargo hold；

Wherein, before the robot is moved to the target area, the transport mechanism is relatively fixed to the warehousing mechanism, The robot is followed passively to extend in the cargo hold.

18. equipment according to claim 16, which is characterized in that

The warehousing mechanism includes movable pedestal, for obtaining at least one goods to be placed from first position in the robot Before object, the direction of the Robot vertical cargo tanks door is moved to the target area of the cargo hold；

The robot further comprises the first telecommunication circuit, and the position for sending the robot to the transport mechanism is believed Breath and/or the target area, so that the determining docking location with the warehousing mechanism of the transport mechanism；

The transport mechanism further comprises the second telecommunication circuit, for receiving the location information of the robot and/or described Target area, it is and described so that the transport mechanism actively extends to the docking location after calculating the docking location The docking of warehousing mechanism.

19. equipment according to claim 16, which is characterized in that the automatic loading and unloading goods equipment further comprises control system System；

The warehousing mechanism includes movable pedestal, for obtaining at least one goods to be placed from first position in the robot Before object, the direction of the Robot vertical cargo tanks door is moved to the target area of the cargo hold；

The robot further comprises the first telecommunication circuit, and the position for sending the robot to the control system is believed Breath and/or the target area, so that the determining docking location with the warehousing mechanism of the transport mechanism；

The control system is used to calculate the docking position using the location information of the robot and/or the target area It sets, and sends the docking location to the transport mechanism, actively extend to the docking location to control the transport mechanism, It is docked with the warehousing mechanism.

20. equipment described in 8 or 19 according to claim 1, which is characterized in that the transport mechanism further comprises connector, For connecting the warehousing mechanism when the transport mechanism extends to the docking location, to realize and the warehousing mechanism Docking.

21. equipment described in 8 or 19 according to claim 1, which is characterized in that the automatic loading and unloading goods equipment further comprises view Feel sensor, the visual sensor is set to the mechanical arm or is connected to the end effector of the mechanical arm.

22. equipment according to claim 16, which is characterized in that when the robot freights in cargo hold, further use In the second position that matches in cargo hold with the cargo to be placed of acquisition, planning is from the first position to described the The motion profile of two positions, and control the mechanical arm and moved according to the motion profile, the cargo to be placed is placed into The second position.

23. equipment according to claim 22, which is characterized in that the robot is further used for controlling the warehousing machine Structure rotates predetermined angular, so that the second position is in the motion range of the mechanical arm, and controls the mechanical arm root It is moved according to the angle and speed of the motion profile, the cargo to be placed is placed into the second position；

Wherein, the warehousing mechanism is after the transport mechanism rotation predetermined angular, the warehousing mechanism and the biography It send using the relatively fixed connection of connector between mechanism, the warehousing mechanism and the width of the transport mechanism link position are greater than The width of the transport mechanism.

24. equipment according to claim 22, which is characterized in that the automatic loading and unloading goods equipment further comprises: setting Sensor in cargo hold, for obtaining the spatial information of non-arrangement of goods in the target area, so that the robot In the space of the non-arrangement of goods in the target area, select the space to match with the cargo to be placed as described second Position.

25. equipment according to claim 16, which is characterized in that the robot is further used for obtaining using sensing device The spatial data and/or goods information for taking cargo to be placed in the warehousing mechanism/transport mechanism, according to the space number According to and/or goods information determine that obtaining for the cargo to be placed holds pose, and control the mechanical arm and hold pose with described obtain and take Obtain the cargo to be placed.

26. equipment according to claim 16, which is characterized in that when the robot unloads in the cargo hold, into one It walks for selecting at least one cargo to be placed from row's cargo nearest with the cargo hold distance from top, determines and obtain institute State obtaining at least one cargo to be placed and hold pose, control the mechanical arm with it is described obtain hold pose obtain it is described at least one wait for Arrangement of goods.

27. equipment according to claim 26, which is characterized in that the robot is further used for obtaining the warehousing machine The second position to match in structure/transport mechanism with the cargo to be placed is planned from the first position to institute The motion profile for stating the second position controls the mechanical arm and is moved according to the motion profile, and the cargo to be placed is placed To the second position.

28. equipment according to claim 27, which is characterized in that the warehousing mechanism and the transport mechanism docking location Height lower than the second position in the warehousing mechanism height so that the cargo to be placed slides into from the warehousing mechanism The transport mechanism.

29. equipment according to claim 28, which is characterized in that the transport mechanism further comprises: being set to described The attaching means of docking location；

The attaching means includes first baffle and second baffle, and described first baffle one end is connected to the transport mechanism, another Towards the warehousing mechanism, described second baffle one end is connected to the transport mechanism at end, the other end towards the warehousing mechanism, The first baffle connects funnel-shaped when the transport mechanism with the second baffle, and funnel openings are towards the warehousing machine Structure, so that the cargo to be placed in the warehousing mechanism slides into the transport mechanism along the attaching means.

30. equipment according to claim 26, which is characterized in that it is predetermined that the robot controls the warehousing mechanism rotation Angle so that the first position is in the motion range of the mechanical arm, and controls the mechanical arm and holds position with described obtain Appearance obtains at least one described cargo to be placed；

Wherein, the warehousing mechanism is after the transport mechanism rotation predetermined angular, the warehousing mechanism and the biography It send using the relatively fixed connection of connector between mechanism, the warehousing mechanism and the width of the transport mechanism link position are greater than The width of the transport mechanism.

31. the described in any item equipment of 7-19 according to claim 1, which is characterized in that the automatic loading and unloading goods equipment is further Including lifting platform, for inciting somebody to action before the direction of the Robot vertical cargo tanks door is moved to the target area of the cargo hold The robot is lifted to object height；

Wherein, the object height is the difference in height on the cargo hatch and ground.